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Haythem Ghazouani
Department of Computer Science
École Supérieure de Technologie et d’Informatique
Charguia II, Tunis 2035, Tunisia
Université de Carthage
haythemghz@yahoo.fr
Abstract—This paper presents a genetic stereo matching when designating individuals for crossover or when electing
algorithm with fuzzy evaluation function. The proposed algo- individuals to build a new population [8].
rithm presents a new encoding scheme in which a chromosome Genetic algorithms (GAs) are adaptive search heuristics
is represented by a disparity matrix. Evolution is controlled by
a fuzzy fitness function able to deal with noise and uncertain that belong to the family of evolutionary algorithms. As
camera measurements, and uses classical evolutionary opera- such, they use natural selection and genetics to perform
tors. The result of the algorithm is accurate dense disparity a random search in order to solve optimization problems.
maps obtained in a reasonable computational time suitable for Although based on random processes, genetic algorithms are
real-time applications as shown in experimental results. not entirely arbitrary, instead they use fitness scores to guide
Keywords-Dense stereo matching; Fuzzy fitness; Genetic the search towards areas of better performance within the
algorithm; Disparity map; search space. The key techniques of GAs are performed to
mimic the natural evolutionary processes, particularly those
I. I NTRODUCTION adopt the Darwinian rule of ”survival of the fittest”. Since
in nature, the competition between individuals to achieve
Evolutionary algorithms try to solve complex problems results in terms of scarce resources results in the fittest
by imitating the Darwinian evolution process. In an EA, individuals surviving at the expense of the weaker ones [16].
artificial critters are created to search for a solution over the The application of artificial genetic algorithms in various
space problem. The artificial critters, known as individuals fields such as image processing, pattern recognition or
are constantly competing with each other to discover optimal machine learning has yielded encouraging results [1, 9].
areas of the search space. Each individual is defined by In particular, several genetic approaches have been used
a fixed encoding scheme representing a single possible to solve the problem of stereo matching [2, 3, 4]. To
solution to the problem. The EA is started by creating an obtain a disparity map, these methods use fitness functions
initial population of size µ including randomly generated defined from similarity and disparity smoothness constraints.
individuals [8]. An evaluation score, known as fitness, is They start by generating an initial population of individuals
then assigned to each individual. Fitness is generated so (chromosomes). Each individual encodes a possible match
that the individual approaches a potential solution as well as with respect to local constraints. After that, the evolutionary
possible. After this initial step, the evolutionary algorithm process is launched to reach a solution for which the pairing
goes into the main iterative cycle. It produces λ children is as compatible as possible with respect to matching con-
from the µ individuals in current population. The children straints. Genetic stereo matching algorithm provides good
are produced using perturbation of individual encoding (mu- results, but its major drawback is the computational effort
tation) and recombination between two or more individuals required to achieve a satisfactory solution. This disadvantage
(crossover). All individuals (children) newly created are can be explained by the fact that classical genetic approaches
assigned fitness scores. A second generation of population use binary encodings for individuals, which leads to some
of µ individuals is formed from µ individuals in the current matching ambiguities [5]. Furthermore, a binary encoding
population and the λ children. The same iterative cycle is requires more storage space and more computing time. To
applied to the new generation and all the generations that get around these limitations, we propose a new encoding
will follow. During the whole cycle, an adaptation pressure for individuals, more compact than binary encoding and
is applied to individuals. That is, evolutionary approach requiring much less space. Reducing the storage space
of the survival of the fittest is applied and individuals try has the immediate effect of reducing the computational
to outrace each other. The adaptation pressure is done by time and allows the search algorithm to explore the search
selection, with the fitter individuals more likely to be chosen space more efficiently [5]. Thus, the convergence time is
for the next generation. The selection pressure is applied considerably improved. The proposed algorithm uses also
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International Conference of Soft Computing and Pattern Recognition
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International Conference of Soft Computing and Pattern Recognition
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International Conference of Soft Computing and Pattern Recognition